自主移动机器人路径规划与避障策略

Path Planning and Obstacle Avoidance Strategy for Autonomous Mobile Robots

文章提出一种基于深度确定策略梯度(Deep Deterministic Policy Gradient,DDPG)算法和激光雷达数据的路径规划与导航方法,通过在机器人操作系统(Robot Operating System,ROS)系统中搭建仿真实验环境,验证了该方法的有效性。实验结果表明,该方法在仿真实验中成功实现了机器人的路径规划与导航,具有较好的导航性能。

The article proposes a path planning and navigation method based on the Deep Deterministic Policy Gradient(DDPG)algorithm and LiDAR data.The effectiveness of this method is verified by constructing a simulation experimental environment in a Robot Operating System(ROS)system.The experimental results show that this method has successfully achieved path planning and navigation for robots in simulation experiments,and has good navigation performance.